cmake_minimum_required(VERSION 3.8)
project(ubt_mqtt)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

# ---------------------------------------------------------<
# set(CMAKE_BUILD_TYPE Debug)

find_package(rclcpp REQUIRED)
find_package(ubt_interface REQUIRED)
find_package(ubt_com REQUIRED)
find_package(jsoncpp REQUIRED)
find_package(yaml-cpp REQUIRED)
find_package(OpenCV REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2 REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
# find_package(mosquitto REQUIRED)


add_executable(${PROJECT_NAME}_node
  src/mqtt_client_node.cpp
  src/mqtt_client.cpp
  src/message_manager.cpp
  src/task_manager.cpp
  src/config.cpp
  src/map_manager.cpp
  src/ubt_communication.cpp
  src/base64.cpp
  third_source/mosquittopp/src/mosquittopp.cpp
)

target_include_directories(${PROJECT_NAME}_node PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include>
    third_source/mosquittopp/include
)

target_link_libraries(${PROJECT_NAME}_node
  mosquitto
  jsoncpp
  yaml-cpp
)

ament_target_dependencies(
  ${PROJECT_NAME}_node
  rclcpp
  ubt_interface
  OpenCV
  tf2_ros
  tf2
  nav_msgs
  std_msgs
  std_srvs
  ubt_com
  
)

install(TARGETS 
    ${PROJECT_NAME}_node 
    RUNTIME DESTINATION lib/${PROJECT_NAME}
    LIBRARY DESTINATION lib/${PROJECT_NAME}
    ARCHIVE DESTINATION lib/${PROJECT_NAME}
)
# --------------------------------------------------------->

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
